We know almost nothing about Borondir's descent, and nothing at all about his immediate family. We do have a single clue, however: in Cirion and Eorl and the Friendship of Gondor and Rohan (Unfinished Tales Part Three II) we're told that his family '...claimed descent from a captain of the Northmen in service of the Kings of old.' The implication is that he was (extremely distantly) related to the Men of the Éothéod, with a connection going back five centuries or more to the time before that people departed for the North.
Borondir's distant descent from the Northmen played a part in his selection as one of the riders to be sent as ambassadors to the Éothéod, but it was only a part of his heritage. Given his Elvish name and otherwise Gondorian descent, he was probably more fully one of the Dúnedain, but the details of his family origins are not elaborated upon.
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